Hybrid brake system for a vehicle

A hybrid brake apparatus (10, or 100) for a vehicle (12) includes a hydraulic brake circuit having a first fluid circuit and a second fluid circuit connected to a master cylinder (14) for generating hydraulic pressure in the first and a second fluid circuits, and electrically actuated brake elements (38,40) controllable as a function of the hydraulic pressure in one or the other of the first and second fluid circuits. The apparatus (10) may include a pedal feel emulator (102) in one of the fluid circuits. The apparatus (10 or 100) may also include a booster (42) for amplifying pressure in the fluid circuits, a sensor (46) fo determining that the booster (42) has failed, and control elements (36) providing compensation for the failed booster (42) during operation of the electrically actuated brakes (38,40) while the booster (42) is inoperative.